This repo contains the code for counterfactual trajectory generation for the object importance estimation method referred in the paper, Object Importance Estimation using Counterfactual.

• Pranay Gupta, Abhijat Biswas, Henny Admoni, David Held, Vehicle Importance Estimation using Counterfactual Reasoning, Under Submission

• Please follow INSTALL_CR.md to setup the environment.
• Further instructions are available here.

The code in this repo is built upon LAV

Learning from All Vehicles
Dian Chen, Philipp Krähenbühl
CVPR 2022 (also arXiV 2203.11934)

It distills a model that performs joint perception, multi-modal prediction and planning, and we hope it to be a great starter kit for end-to-end autonomous driving research.

If you find this repo useful, please also consider citing Learning from all vehicles.

@inproceedings{chen2022lav,
  title={Learning from all vehicles},
  author={Chen, Dian and Kr{\"a}henb{\"u}hl, Philipp},
  booktitle={CVPR},
  year={2022}
}

This repo is released under the Apache 2.0 License (please refer to the LICENSE file for details).